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Getting Start with RTM-ROS system
Description: This tutorials show how to work with rtmros system using HiroNx robotTutorial Level: BEGINNER
Next Tutorial: Using EusLisp (roseus) to control rtmtros robots
Contents
Install (12.04 Ubuntu)
Install ROS system, See http://wiki.ros.org/hydro/Installation/Ubuntu
sudo apt-get install ros-hydro-hrpsys-ros-bridge ros-hydro-hironx-moveit-config
Trouble shooting in installation
If you have already source of rtm-ros-robotics samples, please remove or move these source directories. For example,
rm -fr ~/ros/hydro/src/rtm-ros-robotics/rtmros_common ~/ros/hydro/src/rtm-ros-robotics/openrtm_common
Please specify your catkin workspace such as ~/ros/hydro/src including rtmros_common and openrtm_common repositories.
If you have already built these source repositories, please remove these. For example,
rm -fr ~/ros/hydro/build ~/ros/hydro/devel ~/ros/hydro/install
When you asked question, following diagnostics tools may help to get full information of your system
curl -sL https://raw.github.com/start-jsk/rtmros_common/master/hrpsys_tools/scripts/rtmroswtf.sh | bash
Try Demo Program
Biped Robot
Open Terminal and run robot
rtmlaunch hrpsys_ros_bridge samplerobot.launch
Then, launch another terminal and make a robot walk
rosrun hrpsys_ros_bridge test-samplerobot.py
Manipulation Robot
Open Terminal and run robot
rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
Then, launch another terminal and play with MoveIt!
roslaunch hironx_moveit_config moveit_planning_execution.launch
System Overview
To learn about hrpsys_ros_bridge system, please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge#.
See rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_GUI, to see how to play with MoveIt GUI.
See rtmros_nextage/Tutorials for more information on rtmros-system with HiroNX and Nextage robots.
System's Source-code
hrpsys (OpenRTM 's robot control)
cd ~/ros/${ROS_DISTRO}_parent/src/hrpsysPlease see https://github.com/fkanehiro/hrpsys-base hrpsys-base.
hrpsys interface for ros
cd `rospack find hrpsys_ros_bridge`
Please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge.
hrpsys interface for euslisp via ros
cd `rospack find hrpsys_ros_bridge`
Please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge and go to Euslisp section.
